| 348 | } |
| 349 | |
| 350 | void AMjReplayManager::StartReplay() |
| 351 | { |
| 352 | if (bIsRecording) |
| 353 | StopRecording(); |
| 354 | |
| 355 | TArray<FMjReplayFrame>& Frames = GetActiveFrames(); |
| 356 | if (Frames.Num() == 0) |
| 357 | { |
| 358 | UE_LOG(LogURLabReplay, Warning, TEXT("ReplayManager: No frames in session '%s' to replay!"), *ActiveSessionName); |
| 359 | return; |
| 360 | } |
| 361 | |
| 362 | if (!Manager) |
| 363 | Manager = AAMjManager::GetManager(); |
| 364 | if (!Manager) |
| 365 | return; |
| 366 | |
| 367 | bIsReplaying = true; |
| 368 | PlaybackTime = 0.0f; |
| 369 | PhysicsPlaybackTime.store(0.0, std::memory_order_relaxed); |
| 370 | bFirstReplayFrame = true; |
| 371 | |
| 372 | // Rebuild bindings (initial MuJoCo positions will be captured on first replay frame |
| 373 | // after the reset completes on the physics thread) |
| 374 | RebuildArticulationBindings(); |
| 375 | |
| 376 | // Reset simulation so initial positions are clean (from the model's qpos0) |
| 377 | Manager->ResetSimulation(); |
| 378 | |
| 379 | // Auto-unpause so replay starts immediately |
| 380 | if (Manager->PhysicsEngine && Manager->PhysicsEngine->bIsPaused) |
| 381 | { |
| 382 | Manager->PhysicsEngine->SetPaused(false); |
| 383 | } |
| 384 | |
| 385 | Manager->PhysicsEngine->SetCustomStepHandler([this](mjModel* m, mjData* d) { |
| 386 | this->OnReplayStep(m, d); |
| 387 | }); |
| 388 | |
| 389 | UE_LOG(LogURLabReplay, Log, TEXT("ReplayManager: Started Replay of '%s' (%d frames)"), |
| 390 | *ActiveSessionName, Frames.Num()); |
| 391 | } |
| 392 | |
| 393 | void AMjReplayManager::StopReplay() |
| 394 | { |
no test coverage detected